+
+ }
+
+ public double getZAxisDegreesPerSeconds() {
+ double rawValue = (double) gyro.getRotationZ() / 14.375;
+ return rawValue;
+ }
+
+ public void initializeGyro() {
+ degrees = 0;
+ then = System.nanoTime() / 1000000000.0;
+ gyro.reset();
+ gyro.initialize();
+ System.out.println("Testing Gyro Init");
+ }
+
+ public void addZAxisDegrees() {
+ double degreesRead = getZAxisDegreesPerSeconds();
+ now = System.nanoTime();
+ now = now / (1000000000.0);
+ double differenceInTime = now - then;
+ then = now;
+ degreesIncreased = differenceInTime * degreesRead;
+
+ // 0.0 = register
+ // + 1.0 is the formula constant
+ //
+ degrees += degreesIncreased;
+
+ }
+
+ public double getDegrees() {
+ return degrees;